Hard Disk Drive Servo Systems P7
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Hard Disk Drive Servo Systems P7
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 11 A Benchmark Problem Before ending this book, we post in this chapter a typical HDD servo control design problem. The problem has been tackled in the previous chapters using several design methods, such as PID, RPT, CNF, PTOS and MSC control. We feel that it can serve as an interesting and excellent benchmark example for testing other linear and nonlinear control techniques. We recall that the complete dynamics model of a Maxtor (Model 51536U3) hard drive VCM actuator can be depicted as in Figure 11.1: Nominal plant Resonance modes Noise Figure 11.1. Block diagram of the dynamical model of the hard drive VCM actuator The nominal plant of the HDD VCM actuator is characterized by the following secondorder system: sat (11.1) and (11.2) where the control input is limited within V and is an unknown input dis turbance with mV. For simplicity and for simulation purpose, we assume that the unknown disturbance mV. The measurement output available for
 292 11 A Benchmark Problem control, i.e. (in l um), is the measured displacement of the VCM R/W head and is given by Noise (11.3) where the transfer functions of the resonance modes are given by (11.4) with represents the variation of the resonance modes of the actual actuators whose resonant dynamics change from time to time and also from disk to disk in a batch of million drives. Note that many new hard drives in the market nowadays might have resonance modes at much higher frequencies (such as those for the IBM microdrives studied in Chapter 9). But, structurewise, they are almost the same. The output disturbance (in lum), which is mainly the repeatable runouts, is given by (11.5) and the measurement noise is assumed to be a zeromean Gaussian white noise with a variance (um) . l The problem is to design a controller such that when it is applied to the VCM actuator system, the resulting closedloop system is asymptotically stable and the actual displacement of the actuator, i.e. , tracks a reference um. The overall l design has to meet the following speciﬁcations: 1. the overshoot of the actual actuator output is less than 5%; 2. the mean of the steadystate error is zero; 3. the gain margin and phase margin of the overall design are, respectively ,greater than 6 dB and ; and 4. the maximum peaks of the sensitivity and complementary sensitivity functions are less than 6 dB. The results of Chapter 6 show that the 5% settling times of our design using the CNF control technique are, respectively, 0.80 ms in simulation and 0.85 ms in actual hardware implementation. We note that the simulation result can be further improved if we do not consider actual hardware constraints in our design. For example, the
 11 A Benchmark Problem 293 CNF control law given below meets all design speciﬁcations and achieves a 5% settling time of 0.68 ms. It is obtained by using the toolkit of [55] under the option of the poleplacement method with a damping ratio of and a natural frequency of 2800 rad/sec together with a diagonal matrix diag . The dynamic equation of the control law is given by sat (11.6) (11.7) where (11.8) and (11.9) with being given as in Equation 6.9. The simulation results obtained with given in Figures 11.2 to 11.4 show that all the design speciﬁcations have been achieved. In particular, the resulting 5% settling time is 0.68 ms, the gain margin is 7.85 dB and the phase margin is 44.7 , and ﬁnally, the maximum values of the sensitivity and complementary sensitivity functions are less than 5 dB. The overall control system can still produce a satisfac tory result and satisfy all the design speciﬁcations by varying the resonance modes with the value of changing from to . Nonetheless, we invite interested readers to challenge our design. Noting that for the trackfollowing case, i.e. when um, the control signal is far below its l saturation level. Because of the bandwidth constraint of the overall system, it is not possible (and not necessary) to utilize the full scale of the control input to the actuator in the trackfollowing stage. However, in the trackseeking case or equivalently by setting a larger target reference, say um, the very problem can serve as a l good testbed for control techniques developed for systems with actuator saturation. Interested readers are referred to Chapter 7 for more information on track seeking of HDD servo systems.
 294 11 A Benchmark Problem 1 R/W head displacement (μm) 0.8 0.6 0.4 0.2 0 0 0.5 1 1.5 2 2.5 3 3.5 4 Time (ms) 0.15 Control signal to VCM (V) 0.1 0.05 0 −0.05 −0.1 0 0.5 1 1.5 2 2.5 3 3.5 4 Time (ms) (a) and for the system without output disturbance and noise 1 R/W head displacement (μm) 0.8 0.6 0.4 0.2 0 0 0.5 1 1.5 2 2.5 3 3.5 4 Time (ms) 0.15 Control signal to VCM (V) 0.1 0.05 0 −0.05 −0.1 0 0.5 1 1.5 2 2.5 3 3.5 4 Time (ms) (b) and for the system with output disturbance and noise Figure 11.2. Output responses and control signals of the CNF control system
 11 A Benchmark Problem 295 150 100 50 Magnitude (dB) 0 −50 −100 −150 −200 0 1 2 3 4 5 10 10 10 10 10 10 Frequency (Hz) −100 −200 Phase (deg) −300 −400 −500 −600 0 1 2 3 4 5 10 10 10 10 10 10 Frequency (Hz) (a) Bode plot 3 0 dB 2 dB 2 −2 dB 4 dB −4 dB 1 6 dB −6 dB 10 dB −10 dB Imaginary axis 0 −1 −2 −3 −4.5 −4 −3.5 −3 −2.5 −2 −1.5 −1 −0.5 0 0.5 Real axis (b) Nyquist plot Figure 11.3. Bode and Nyquist plots of the CNF control system
 296 11 A Benchmark Problem 20 0 −20 −40 −60 Magnitude (dB) −80 −100 Sensitivity function Complementary sensitivity function −120 −140 −160 −180 0 1 2 3 4 5 10 10 10 10 10 10 Frequency (Hz) Figure 11.4. Sensitivity and complementary sensitivity functions with the CNF control
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 Index Almost disturbance decoupling, 68, 70, 74, Data ﬂex cables, 245 275 Digital signal processor, 17 applications, 275 Disturbances, 11, 225 continuoustime, 70 decoupling, 271 discretetime, 74 modeling, 13 solvability conditions, 70, 74 rejection, 12 Dualstage actuators, 218 Bangbang control, 98, 99 control conﬁguration, 221 Benchmark problem, 291 dynamical models, 220 Bilinear transformations frequency responses, 218 control, 76 modeling, 218 physical conﬁguration, 218 Canonical forms of linear systems position error signal test, 239 special coordinate basis, 38 runout disturbances, 225 CNF control toolkit, 164 sensitivity functions, 225 Complementary sensitivity functions, 48 servo systems, 220 twodegreesoffreedom control, 49 track following, 225 Composite nonlinear feedback control Dynamic signal analyzer, 18 continuoustime, 120 design parameter selection, 139, 158 Experimental setup, 17 discretetime, 142 fullorder output feedback, 125, 147 HDD servo systems, 205, 206, 225 Finite zero structure of linear systems, 39, 43 interpretation, 139 Friction Lyapunov functions, 123, 125, 127, 145, compensation, 257 147 model, 246 microdrive servo systems, 258 modeling, 245 nonlinear tuning function, 123 reducedorder output feedback, 130, 149 Gain margins, 48, 191, 209, 225, 259 root locus, 139, 173 Geometric subspaces of linear systems, 45 software toolkit, 164 , 46 state feedback, 121, 144 , 46 systems with disturbances, 132, 151 strongly controllable subspaces, 45 systems without disturbances, 121, 142 weakly unobservable subspaces, 45
 308 Index control, 49 proximate timeoptimal control, 202, 206 conﬁguration, 50 resonance compensation, 11 continuoustime, 50 resonance modes, 180, 220, 255 discretetime, 59 robust and perfect tracking, 203 fullorder output feedback, 56, 64 servo systems, 201, 217, 220, 255 optimal values, 52, 53, 61 singlestage actuated, 201 perturbation approach, 53, 62 sources of errors, 12 reducedorder output feedback, 57, 66 spindle motor assembly, 10 regular case, 52, 61, 62 suspension assembly, 10 Riccati equations, 53, 54, 61–63 track following, 3, 225 singular case, 52, 53, 61, 62 track misregistration, 11, 239 state feedback, 54, 63 track seeking, 3, 206 structural decomposition approach, 54, track settling, 3 56, 57, 63, 64, 66 VCM actuators, 3, 201 control, 68 Hysteresis, 270 almost disturbance decoupling, 70, 74, 277 Inﬁnite zero structure of linear systems, 39, bilinear transformation, 76 44 conﬁguration, 50 Invariant zeros of linear systems, 43 continuoustime, 69 Invertibility of linear systems, 44 discretetime, 74 degenerate, 44 measurement feedback, 73 invertible, 44 optimal values, 69, 74 left invertible, 44 perturbation approach, 70 right invertible, 44 regular case, 70 Riccati equations, 70 Laser Doppler vibrometer, 18 singular case, 70 Least square estimation, 29 state feedback, 71 Linear quadratic regulator structural decomposition approach, 71, 73 Riccati equations, 90 suboptimal controller, 70 solutions, 90 Hamiltonian, 97 Linear systems toolkit, 40 Hard disk drives Loop transfer recovery, 88 actuator assembly, 10 achieved loop, 90 composite nonlinear feedback control, at input point, 88 205, 206, 225 at output point, 94 data ﬂex cable, 245 closedloop recovery, 94 disturbance modeling, 13 control conﬁguration, 90 disturbances, 11, 12 CSS architecture based, 92 dualstage actuated, 217 duality, 94 experimental setup, 17 fullorder output feedback, 91 ﬁrst disk, 6 observer based, 91 friction, 245 recovery error, 90, 92, 93 future trends, 8 reducedorder output feedback, 92 historical development, 5, 6 target loop, 89 mechanical structure, 3, 9 Lyapunov functions microdrive, 243 composite nonlinear feedback control, modeswitching control, 203, 206 123, 125, 127, 145, 147 modeling, 245 modeswitching control, 107, 109 nonlinearities, 245 proximate timeoptimal control, 107
 Index 309 Microactuators, 218, 269 Piezoelectric actuator system, 269 control, 220 design formulation, 275 dualstage actuator, 218 design speciﬁcations, 270 frequency responses, 218 dynamical model, 269 modeling, 218 hysteretic model, 270, 272 piezoelectric, 269 introduction, 269 Microdrives, 243 simulations, 280 dynamic model, 249, 255 zero structures, 277 friction, 246 Pontryagin’s principle, 97 modeling, 245 Position error signal tests, 198, 239 nonlinearities, 249 dualstage actuators, 239 resonance modes, 255 dualstage servo systems, 239 sensitivity functions, 259 VCM actuators, 198 Modeswitching control, 104 Proximate timeoptimal control, 101, 105 conﬁguration, 105 conﬁgurations, 101, 103 control law, 105 continuoustime, 101 HDD servo systems, 203, 206 control laws, 101, 104 Lyapunov functions, 107, 109 control zones, 102 stability analysis, 105 discretetime, 103 switching conditions, 109 HDD servo systems, 202, 206 Modeling and identiﬁcation, 21 Lyapunov functions, 107 conﬁdence region, 28 sampling frequency, 104 dualstage actuator, 220 impulse analysis, 22 Relative degree of linear systems, 44 least square method, 28 Resonance modes loss function, 27 compensation, 11, 15 microdrive, 245 microactuator, 220 model order, 27 microdrive, 255 model validation, 27, 33 VCM actuator, 180 Monte Carlo estimation, 32, 244, 249, 250 Riccati equations physical effect approach, 32 control, 53, 54, 61–63 prediction error method, 26 control, 70 step analysis, 24 linear quadratic regulator, 90 VCM actuator, 180 robust and perfect tracking, 80, 82 Monte Carlo estimation, 33, 244, 249, 250 Robust and perfect tracking, 76, 184 continuous systems, 76 Normal rank of linear systems, 43 continuoustime, 76 Norms controller structures, 76, 85 norm, 77 discrete systems, 84 norm, 52, 60 discretetime, 84 norm, 69, 74 fullorder output feedback, 81, 83 Notch ﬁlters, 17, 182, 201, 258 hard disk drives, 203 measurement feedback, 86 Phase margins, 48, 191, 209, 225, 259 perturbation approach, 81 PID control, 47 Riccati equations, 80, 82 conﬁguration, 47 solvability conditions, 77, 85 gain selection, 48 state feedback, 78, 85 sensitivity functions, 48 structural decomposition approach, 78, Ziegler–Nichols tuning, 48 81, 83, 85, 86
 310 Index Rosenbrock system matrix, 43 minimum time, 99 Runout disturbances, 11, 191, 225 openloop, 98 dualstage actuators, 225 optimal trajectories, 97 nonrepeatable runout, 14 Pontryagin’s principle, 97 repeatable runout, 13 Track misregistration, 11, 239 VCM actuators, 191 dualstage servo systems, 239 Twodegreesoffreedom control system, 49 Sensitivity functions, 48, 191, 209, 225, 259 twodegreesoffreedom control, 49 VCM actuators, 3, 179, 245 Software toolkits, 17 design speciﬁcations, 182, 258 CNF control, 17, 164 driver, 246 linear systems, 17, 40 dynamical models, 180, 181, 201, 220 Special coordinate basis, 38, 78 frequency responses, 181, 201 block diagram, 42 implementation, 198, 259 compact form, 40 microdrive, 243 properties, 43–45 modeling, 180, 245 statespace decomposition, 45 position error signal tests, 198 transformations, 39 runout disturbances, 191 Stability margins, 48 sensitivity functions, 191, 259 servo systems, 201 Timeoptimal control, 96, 163 track following, 188, 259 closedloop, 99 track seeking, 206 control scheme, 100 Vibrationfree table, 18 control signals, 97, 99 deceleration trajectories, 100 Zero placement, 140, 159 Hamiltonian, 97 Ziegler–Nichols PID tuning, 47
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